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Deprecate Solver::Options::num_linear_solver_threads

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1. Solver::Options::num_threads now controls parallelism in Ceres
   Solver. The user specified value of
   Solver::Options::num_linear_solver_threads is ignored.
2. If the user specifies Solver::Options::num_linear_solver_threads
   and it is different from Solver::Options::num_threads,
   a warning is printed.
3. Solver::Summary:num_linear_solver_threads_given and
   Solver::Summary::num_linear_solver_threads_used are also
   deprecated and are always set to Solver::Summary::num_threads_given
   and Solver::Summary::num_threads_used.

Change-Id: I20b9336d9336e400e6f0a15b63857c0c43eb271c
This commit is contained in:
Sameer Agarwal
2018-02-27 17:02:04 -08:00
parent d9d8de556a
commit 3d933750a7
7 changed files with 62 additions and 33 deletions
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docs/source/nnls_solving.rst
+23 -5
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@@ -1282,7 +1282,12 @@ elimination group [LiSaad]_.
.. member:: int Solver::Options::num_linear_solver_threads
Default: ``1``
Default: ``-1``
**This field is deprecated, and is ignored by
Ceres. Solver::Options::num_threads controls threading for all
of Ceres Solver. This setting is scheduled to be removed in
1.15.0.**
Number of threads used by the linear solver.
@@ -2125,20 +2130,33 @@ The three arrays will be:
Number of threads actually used by the solver for Jacobian and
residual evaluation. This number is not equal to
:member:`Solver::Summary::num_threads_given` if neither `OpenMP` nor `TBB`
is available.
:member:`Solver::Summary::num_threads_given` if none of `OpenMP`,
`TBB` or `CXX11_THREADS` is available.
.. member:: int Solver::Summary::num_linear_solver_threads_given
**This field is deprecated, and is ignored by
Ceres. Solver::Summary::num_threads_given should be used
instead.
This field is scheduled to be removed in 1.15.0. In the interim the
value of this field will be num_threads_given.**
Number of threads specified by the user for solving the trust
region problem.
.. member:: int Solver::Summary::num_linear_solver_threads_used
**This field is deprecated. Solver::Summary::num_threads_used
should be used instead.
This field is scheduled to be removed in 1.15.0. In the interim the
value of this field will be num_threads_used.**
Number of threads actually used by the solver for solving the trust
region problem. This number is not equal to
:member:`Solver::Summary::num_linear_solver_threads_given` if neither
`OpenMP` nor `TBB` is available.
:member:`Solver::Summary::num_linear_solver_threads_given` if none
of `OpenMP`, `TBB` or `CXX11_THREADS` is available.
.. member:: LinearSolverType Solver::Summary::linear_solver_type_given
examples/bundle_adjuster.cc
-1
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@@ -140,7 +140,6 @@ void SetLinearSolver(Solver::Options* options) {
CHECK(StringToDenseLinearAlgebraLibraryType(
FLAGS_dense_linear_algebra_library,
&options->dense_linear_algebra_library_type));
options->num_linear_solver_threads = FLAGS_num_threads;
options->use_explicit_schur_complement = FLAGS_explicit_schur_complement;
}
include/ceres/solver.h
+21 -5
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@@ -118,7 +118,7 @@ class CERES_EXPORT Solver {
#endif
#endif
num_linear_solver_threads = 1;
num_linear_solver_threads = -1;
use_explicit_schur_complement = false;
use_postordering = false;
dynamic_sparsity = false;
@@ -425,9 +425,11 @@ class CERES_EXPORT Solver {
// whether they are linked into Ceres at build time.
SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type;
// Number of threads used by Ceres to solve the Newton
// step. Currently only the SPARSE_SCHUR solver is capable of
// using this setting.
// NOTE: This field is deprecated, and is ignored by
// Ceres. Solver::Options::num_threads controls threading for all
// of Ceres Solver.
//
// This setting is scheduled to be removed in 1.15.0.
int num_linear_solver_threads;
// The order in which variables are eliminated in a linear solver
@@ -932,10 +934,24 @@ class CERES_EXPORT Solver {
// num_threads_given if OpenMP is not available.
int num_threads_used;
// Number of threads specified by the user for solving the trust
// NOTE: This field is deprecated,
// Solver::Summary::num_threads_given should be used instead.
//
// This field is scheduled to be removed in 1.15.0. In the interim
// the value of this field will always be equal to
// num_threads_given.
//
// Number of threads specified by the user for solving the trust
// region problem.
int num_linear_solver_threads_given;
// NOTE: This field is deprecated,
// Solver::Summary::num_threads_used should be used instead.
//
// This field is scheduled to be removed in 1.15.0. In the interim
// the value of this field will always be equal to
// num_threads_used.
//
// Number of threads actually used by the solver for solving the
// trust region problem. This number is not equal to
// num_threads_given if OpenMP is not available.
internal/ceres/preprocessor.cc
+13 -10
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@@ -56,6 +56,19 @@ Preprocessor::~Preprocessor() {
}
void ChangeNumThreadsIfNeeded(Solver::Options* options) {
if (options->num_linear_solver_threads != -1 &&
options->num_threads != options->num_linear_solver_threads) {
LOG(WARNING) << "Solver::Options::num_threads = "
<< options->num_threads
<< " and Solver::Options::num_linear_solver_threads = "
<< options->num_linear_solver_threads
<< ". Solver::Options::num_linear_solver_threads is "
<< "deprecated and is ignored."
<< "Solver::Options::num_threads now controls threading "
<< "behaviour in all of Ceres Solver. "
<< "This field will go away in Ceres Solver 1.15.0.";
}
#ifdef CERES_NO_THREADS
if (options->num_threads > 1) {
LOG(WARNING)
@@ -64,16 +77,6 @@ void ChangeNumThreadsIfNeeded(Solver::Options* options) {
<< "to single threaded mode.";
options->num_threads = 1;
}
// Only the Trust Region solver currently uses a linear solver.
if (options->minimizer_type == TRUST_REGION &&
options->num_linear_solver_threads > 1) {
LOG(WARNING)
<< "Neither OpenMP nor TBB support is compiled into this binary; "
<< "only options.num_linear_solver_threads=1 is supported. Switching "
<< "to single threaded mode.";
options->num_linear_solver_threads = 1;
}
#endif // CERES_NO_THREADS
}
internal/ceres/solver.cc
+4 -9
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@@ -96,7 +96,6 @@ bool CommonOptionsAreValid(const Solver::Options& options, string* error) {
OPTION_GE(gradient_tolerance, 0.0);
OPTION_GE(parameter_tolerance, 0.0);
OPTION_GT(num_threads, 0);
OPTION_GT(num_linear_solver_threads, 0);
if (options.check_gradients) {
OPTION_GT(gradient_check_relative_precision, 0.0);
OPTION_GT(gradient_check_numeric_derivative_relative_step_size, 0.0);
@@ -369,7 +368,7 @@ void PreSolveSummarize(const Solver::Options& options,
summary->max_lbfgs_rank = options.max_lbfgs_rank;
summary->minimizer_type = options.minimizer_type;
summary->nonlinear_conjugate_gradient_type = options.nonlinear_conjugate_gradient_type; // NOLINT
summary->num_linear_solver_threads_given = options.num_linear_solver_threads; // NOLINT
summary->num_linear_solver_threads_given = options.num_threads;
summary->num_threads_given = options.num_threads;
summary->preconditioner_type_given = options.preconditioner_type;
summary->sparse_linear_algebra_library_type = options.sparse_linear_algebra_library_type; // NOLINT
@@ -386,9 +385,9 @@ void PostSolveSummarize(const internal::PreprocessedProblem& pp,
summary->inner_iterations_used = pp.inner_iteration_minimizer.get() != NULL; // NOLINT
summary->linear_solver_type_used = pp.linear_solver_options.type;
summary->num_linear_solver_threads_used = pp.options.num_linear_solver_threads; // NOLINT
summary->num_linear_solver_threads_used = pp.options.num_threads;
summary->num_threads_used = pp.options.num_threads;
summary->preconditioner_type_used = pp.options.preconditioner_type; // NOLINT
summary->preconditioner_type_used = pp.options.preconditioner_type;
internal::SetSummaryFinalCost(summary);
@@ -528,8 +527,7 @@ void Solver::Solve(const Solver::Options& options,
PreSolveSummarize(options, problem_impl, summary);
// The main thread also does work so we only need to launch num_threads - 1.
problem_impl->context()->EnsureMinimumThreads(
std::max(options.num_threads, options.num_linear_solver_threads) - 1);
problem_impl->context()->EnsureMinimumThreads(options.num_threads - 1);
// Make sure that all the parameter blocks states are set to the
// values provided by the user.
@@ -779,9 +777,6 @@ string Solver::Summary::FullReport() const {
}
StringAppendF(&report, "Threads % 25d% 25d\n",
num_threads_given, num_threads_used);
StringAppendF(&report, "Linear solver threads % 23d% 25d\n",
num_linear_solver_threads_given,
num_linear_solver_threads_used);
string given;
StringifyOrdering(linear_solver_ordering_given, &given);
internal/ceres/test_util.h
-2
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@@ -102,8 +102,6 @@ struct SolverConfig {
sparse_linear_algebra_library_type;
options->preconditioner_type = preconditioner_type;
options->num_threads = num_threads;
options->num_linear_solver_threads = num_threads;
if (use_automatic_ordering) {
options->linear_solver_ordering.reset();
}
internal/ceres/trust_region_preprocessor.cc
+1 -1
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@@ -193,7 +193,7 @@ bool SetupLinearSolver(PreprocessedProblem* pp) {
pp->linear_solver_options.use_explicit_schur_complement =
options.use_explicit_schur_complement;
pp->linear_solver_options.dynamic_sparsity = options.dynamic_sparsity;
pp->linear_solver_options.num_threads = options.num_linear_solver_threads;
pp->linear_solver_options.num_threads = options.num_threads;
pp->linear_solver_options.use_postordering = options.use_postordering;
pp->linear_solver_options.context = pp->problem->context();